"People are going to see what they want to see. It's the same problem you have with body cameras, it's the same thing you're going to have with these reports," Gilliam said Thursday on "The Steve Malzberg Show."

A prisoner inside the van transporting Gray told authorities the 25-year-old African-American man purposely slammed himself into the wall of the vehicle to hurt himself.

"If they didn't have cameras inside that van, it's going to be a conspiracy theory," Gilliam said.

"And listen, if this community doesn't realize, if this mayor doesn't realize the potential for more riots and they don't get prepared, they should all go to jail."

Gilliam — president of U.S. Continued Service, which helps employ military veterans — said the problem in Baltimore is that all sides lack certain standards of proper procedure and behavior.

"The reality about all this … is that you're just seeing standards that don't exist in a lot of police departments," he said.

"And you're also seeing standards that don't exist in communities on the way people should act. That really is what it all boils down to with this."